48 citations · 51 across the 10 of their papers we have counts for
13 papers · 1 filter
First-Order Sweeping Processes and Extended Projected Dynamical Systems: Equivalence, Time-Discretization and Numerical Optimal Control
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
Constrained dynamical systems are systems such that, by some means, the state stays within a given set. Two such systems are the (perturbed) Moreau sweeping process and the recentl…
Multi-Phase Optimal Control Problems for Efficient Nonlinear Model Predictive Control with acados
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +1
Computationally efficient nonlinear model predictive control relies on elaborate discrete-time optimal control problem (OCP) formulations trading off accuracy with respect to the c…
Finite Elements with Switch Detection for Numerical Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
The Finite Elements with Switch Detection (FESD) method is a highly accurate direct transcription method for optimal control of several classes of nonsmooth dynamical systems. This…
Parallelizable Parametric Nonlinear System Identification via tuning of a Moving Horizon State Estimator
Léo Simpson, Jonas Asprion, Simon Muntwiler +2
This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used fo…
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin Nurkanović, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados
Jonathan Frey, Yunfan Gao, Florian Messerer +3
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recen…